Removed the feature to keep camera focused on robot and replaced it by focusing camera on startup once

IK solver now checks if pose is reachable and indicates it by coloring the indicator sphere red or green after moving the manipulator

Changed tcp pose indicators to be transparent and made camera orthographic again due to camera culling problems

Added a dragger that automatically positions at current selected tcp pose and allows to solve IK for a different pose by moving it

added convenience function convert ArmarX quaternion variant type to Eigen::Quaternionf